Tower crane anti-swing control method based on fixed time disturbance estimation

Abstract

The invention discloses a tower crane anti-swing control method based on fixed time disturbance estimation, which comprises the following steps of: firstly, establishing a kinetic model of a tower crane based on an Euler-Lagrange equation, converting the kinetic model into a state-space equation, and then aiming at the problems of matching and non-matching disturbance existing in the operation process of a tower crane system, establishing a dynamic model of the tower crane; a fixed time disturbance observer is constructed to estimate external disturbance of the system, then a layered sliding mode surface with a fixed time convergence characteristic is constructed, and finally an anti-swing positioning controller of the tower crane system is constructed to perform anti-swing control of the tower crane. The built anti-swing positioning controller can well estimate matching and non-matching disturbances existing in the tower crane system, convergence of the system state is rapidly and accurately achieved, and certain robustness is achieved for the matching and non-matching disturbances.

Description

Technical field [0001] The present invention belongs to the field of tower crane control technology, particularly relates to a tower crane anti-swing control method based on fixed time disturbance estimation. Background [0002] Tower crane (tower crane) is a kind of cargo lifting equipment with strong load capacity and flexible operation, which has been widely used in the transportation of large building materials on construction sites. [0003] However, in the process of lifting goods, factors such as changes in the speed of tower crane track trolleys and external environmental interference will cause the swing of the load, which will reduce the accuracy and efficiency of tower crane operations, and even cause safety accidents. Statistics show that the operation mode of traditional tower cranes wastes more than 30% of the time spent on the removal of loads. Therefore, how to ensure that while quickly achieving load positioning, effectively suppress the swing of the load has bec...

AI Technical Summary

Problems solved by technology

However, these methods generally have two main problems of slow convergence and low control precision.

[0005] In addition, in the actual tower crane operation environment, the system will be affected by various uncertainties and external disturbances. These unknown uncertainties bring great challenges to the design of the controller

At present, most of the control strategies discussed more need to assume that the disturbance is bounded and the upper bound is known or that the disturbance and the control input are in the same channel (that is, matching disturbance), but these assumptions are unreasonable

[0006] At present, there is an urgent need for a high-precision tower crane control method with strong robustness, so that the tower crane can realize fast anti-swing positioning of the load under a series of external disturbances (matching and non-matching disturbances), but there is no relevant description in the prior art

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